The Dynamic and Active-pixel Vision Sensor (DAVIS) integrates the functionality
of a conventional camera with a frame-based intensity read-out and an event-based
sensor. These sensors have great potential for robotics because they allow us to utilize
both the benefits of each sensor. Unlike conventional cameras, an event-based sensor
gives a high frequency output, consisted of a stream of asynchronous brightness
changes called events. In this work, it is necessary to implement a feature tracking
algorithm using the combined information from the standard and event-based camera.
Features are first detected in frames and then tracked asynchronously using the steam
of events, thus pairing the events with detected features in the latest generated frame.
The algorithm is implemented in C/C++ under the Robot operating system framework.